平均からの脱却：診断的思考連鎖と構造的ガイダンスによるロボットマニピュレーションの収束的デフォルトの克服
Breaking the Average: Overcoming Convergent Defaults in Robotic Manipulation via Diagnostic Chain-of-Thought and Structured Guidance
VLAモデルが訓練データの平均的な行動に収束してしまう問題に対し、パラメータ更新なしでデフォルト行動を特定し、診断的推論と構造化プロンプトで修正する手法を提案。
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著者: Mohammed Daba, Waleed Abdulrahman Saleh AlAkwa
分類: cs.RO
原文アブストラクト
Recent Vision-Language-Action (VLA) models, such as $π_{0.5}$, have demonstrated impressive generalization capabilities by scaling behavior cloning across massive datasets. However, these models frequently suffer from distributional convergence, a phenomenon where the policy regresses to "safe" but suboptimal mean behaviors due to mode averaging in the training data. This often results in generic grasp strategies, Convergent Defaults, that fail in constrained or long-tail scenarios. In this work, we propose a novel framework to identify and correct these behaviors without parameter updates. We introduce a three-stage methodology: (1) Probing for Defaults, identifying task-specific mode collapse; (2) Diagnostic Root Cause Analysis, utilizing the VLA's latent reasoning capabilities to verbalize the logic behind suboptimal actions; and (3) Structured Guidance Injection, where concrete, distinct alternatives are encoded into reusable "Lens Prompts" that shift the sampling distribution. We validate this approach using $π_{0.5}$ in ManiSkill3 simulation environments. We hypothesize that our method outperforms vanilla $π_{0.5}$ and standard Chain-of-Thought prompting by effectively breaking convergent defaults in complex manipulation tasks.